Design of disturbance observer via the robust stabilization and H∞ loop shaping methods

Jun Moon, Choong Woo Lee, Chung Choo Chung, Young Sik Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The Disturbance observer (DOB) method is known to be effective in enhancing the performance of dynamic systems in the presence of disturbances. DOBs of various structures have been proposed to improve systems sensitivity functions for better disturbance rejection performance and robustness. However, the improvement to the sensitivity function may deteriorate robustness and transient responses. In this paper, we propose a new systematic method of designing the DOB. This method is based on the robust stabilization of the normalized coprime factor plant description and H loop shaping method. In our method, good system robustness can be achieved by Nehari stability margin, and the design parameters of the Q-filter for system robustness and performance can be determined systematically using a target loop transfer function. We applied this method to a MEMS stage. Simulation results show that the disturbance effect of the stage is reduced, and a robust system is achieved in the presence of parameter uncertainties.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
StatePublished - 2008 Dec 1
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/07/608/07/11

Fingerprint

Stabilization
Disturbance rejection
Robustness (control systems)
Transient analysis
MEMS
Transfer functions
Dynamical systems
Uncertainty

Keywords

  • Application of mechatronic principles
  • Design methodologies
  • Mechatronic systems

Cite this

Moon, J., Lee, C. W., Chung, C. C., & Kim, Y. S. (2008). Design of disturbance observer via the robust stabilization and H∞ loop shaping methods. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.2260
Moon, Jun ; Lee, Choong Woo ; Chung, Chung Choo ; Kim, Young Sik. / Design of disturbance observer via the robust stabilization and H∞ loop shaping methods. Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1. ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); 1 PART 1).
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Moon, J, Lee, CW, Chung, CC & Kim, YS 2008, Design of disturbance observer via the robust stabilization and H∞ loop shaping methods. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1 PART 1, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 08/07/6. https://doi.org/10.3182/20080706-5-KR-1001.2260

Design of disturbance observer via the robust stabilization and H∞ loop shaping methods. / Moon, Jun; Lee, Choong Woo; Chung, Chung Choo; Kim, Young Sik.

Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1. ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Moon J, Lee CW, Chung CC, Kim YS. Design of disturbance observer via the robust stabilization and H∞ loop shaping methods. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.2260